send_classification_query_action.py

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#!/usr/bin/env python
 
import actionlib
import jsk_recognition_msgs.msg
import rospy
from sensor_msgs.msg import Image
 
def cb(image):
    ac = actionlib.SimpleActionClient("/classification/inference_server",
                                      jsk_recognition_msgs.msg.ClassificationTaskAction)
    ac.wait_for_server()
    goal = jsk_recognition_msgs.msg.ClassificationTaskGoal()
    goal.image = image
    goal.queries = ["human", "apple", "book"]
    ac.send_goal(goal)
    ac.wait_for_result()
    print(ac.get_result())
 
rospy.init_node("test_classification_action")
sub = rospy.Subscriber("/usb_cam/image_raw", Image, cb)
rospy.spin()